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Don't do home reset if in failsafe mode

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This commit is contained in:
teckel12 2017-10-27 09:42:53 -04:00
parent 37a0aa6d34
commit cc298d075e
2 changed files with 9 additions and 4 deletions
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2
src/main/navigation/navigation.c
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@ -1732,7 +1732,7 @@ void updateHomePosition(void)
// If pilot so desires he may reset home position to current position
if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
if (isHomeResetAllowed && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && posControl.flags.hasValidPositionSensor) {
if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && posControl.flags.hasValidPositionSensor) {
const navSetWaypointFlags_t homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, homeUpdateFlags);
isHomeResetAllowed = false;